mirror of https://github.com/ArduPilot/ardupilot.git synced 2026-02-04 12:25:35 -06:00

Peter Barker 7ceb7c31c7 global: fix whitespace issues in markdown files

global: fix MD007 unordered list indentation in markdown files

Normalize unordered list indentation to use 2-space multiples:
- Top-level list items start at column 0
- Nested list items use 2 additional spaces per level

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

global: fix MD009 trailing whitespace in markdown files

Remove trailing whitespace from all affected markdown files.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

global: fix MD010 hard tabs in markdown files

Replace hard tab characters with 4 spaces.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

global: fix MD012 multiple consecutive blank lines in markdown

Collapse multiple consecutive blank lines to single blank lines
across all markdown files (excluding vendored code).

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

global: fix MD007 list indentation base level in markdown

Shift list indentation left by 2 spaces so top-level list items
start at column 0 instead of column 2.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD022 blank lines around headings in markdown

Ensure headings are surrounded by blank lines as required by
markdownlint MD022 rule.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD032 blank lines around lists in markdown

Ensure lists are surrounded by blank lines as required by
markdownlint MD032 rule.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD031 blank lines around code blocks in markdown

Ensure fenced code blocks are surrounded by blank lines as required
by markdownlint MD031 rule.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD047 files should end with single newline

Ensure all markdown files end with exactly one newline character
as required by markdownlint MD047 rule.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD023 headings must start at beginning of line

Remove leading whitespace from heading lines as required by
markdownlint MD023 rule.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD007 remaining list indentation in markdown

Fix unordered list indentation to use correct spacing as required
by markdownlint MD007 rule.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD030 spaces after list markers in markdown

Reduce multiple spaces after list markers to single space as
required by markdownlint MD030 rule.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD022 blank lines around setext headings

Ensure setext-style headings (underlined with === or ---) are
surrounded by blank lines as required by markdownlint MD022 rule.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD018 missing space after hash in headings

Add space after hash marks in atx-style headings as required by
markdownlint MD018 rule.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD019 multiple spaces after hash in headings

Reduce multiple spaces after hash marks to single space in
atx-style headings as required by markdownlint MD019 rule.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD012 multiple consecutive blank lines in markdown

Remove multiple consecutive blank lines and ensure files end with
exactly one newline as required by markdownlint MD012 rule.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD023 headings with leading whitespace

Remove leading whitespace from setext-style heading text lines
as required by markdownlint MD023 rule.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD022 blank line after heading in markdown

Add missing blank line after heading as required by markdownlint
MD022 rule.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD009 trailing non-breaking space in markdown

Remove trailing non-breaking space (U+00A0) as required by
markdownlint MD009 rule.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Tools/scripts: fix MD012 remaining multiple blank lines in markdown

Remove leading blank lines and whitespace-only lines that create
multiple consecutive blank lines.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

2026-02-04 11:37:38 +11:00

1.9 KiB

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UltraMotion CAN Driver

This driver implements support for the UltraMotion CAN servos

Parameters

The script used the following parameters:

UM_SERVO_MASK

Mask of servo channels to transmit using UltraMotion CAN messages

UM_CANDRV

This sets the CAN scripting driver number to attach to. This is normally set to 1 to use a CAN driver with CAN_Dx_PROTOCOL=10. To use the 2nd scripting CAN driver set this to 2 and set CAN_Dx_PROTOCOL=12.

UM_RATE_HZ

This sets the update rate of the script in Hz (how often it sends commands and checks for new data from the actuator). A value of 200 is reasonable.

UM_OPTIONS

This sets optional features. Set bit 1 for enabling CAN logging. Bit 2 enables telemetry parsing. Bit 3 for sending the position of all servos as NAMED_VALUE_FLOAT MAVLink packets of name UMPOS_n where n is the unit ID.

Operation

This driver should be loaded by placing the lua script in the APM/SCRIPTS directory on the microSD card, which can be done either directly or via MAVFTP. The following key parameters should be set:

SCR_ENABLE should be set to 1
UM_SERVO_MASK needs to be set to a mask of servos

It is also strongly recommended that you raise SCR_THD_PRIORITY to 3 to ensure the script gets sufficient priority.

then the flight controller should rebooted and parameters should be refreshed.

UltraMotion Settings

The following settings need to be changed using the CLI or CONFIG.TXT

unitID should be set to the servo number (1-indexed)
pMin to 1000
pMax to 2000

If using telemetry (remember to set UM_OPTIONS bit 2), the following should also be set:

txID should be set to match unitID
txData should be set to ABCGHEFY
txIvl should be set according to your desired telemetry rate

(e.g., 100 milliseconds for 10Hz)

Commands, assuming you are setting up servo 7, and a telemetry rate of 10Hz

id 7
pn 1000
px 2000
ni 7
dt ABCGHEFY
it 100

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